Monitoring apparatus and control method of crane hoisting vertical deviation angle

ABSTRACT

Disclosed in the present invention is a monitoring apparatus and control method of crane hoisting vertical deviation angle; the monitoring apparatus uses a dual-axis inclinometer to measure the vertical deviation angle of the lifting pulley block of a crane, wirelessly transmits the angle signal and dynamically displays the angle by a control display; the control method adopts the monitoring apparatus mentioned above. The monitoring apparatus thereof fixes a measuring platform on the outside of the guard plate of the movable pulley of the lifting pulley block, and the dual-axis inclinometer is fixed on the measuring platform surface which becomes a horizontal plane when the crane hoisting vertical deviation angle is 0 degree. The present invention can achieve detecting and monitoring the verticality of the lifting pulley block in real time, and avoid the risk of the crane non-vertical hoisting.

This application claims priority to PCT Application No. PCT/CN2012/082894 filed on Oct. 13, 2012, which claims priority to China Application No. 201110387199.4 filed Nov. 25, 2011, which are incorporated in their entirety herein by reference.

FIELD OF THE INVENTION

The present application relates to the technical field of crane hoisting, and more specifically to a monitoring apparatus and control method of crane hoisting vertical deviation angle.

BACKGROUND OF THE INVENTION

The crane requires vertical lifting, but the driver cannot determine whether the hook is in the vertical position. The verticality detection of crane hook becomes a problem to be urgently solved for the consideration, whether it is the possibility of hurting the surrounding equipment and personnel by the deflection of weight caused by the eccentrically lifting hook or other reasons, or the aim of realizing the automatic operation of the crane, or the aim of implementing safety hoisting and overcoming the crane collaborative hoisting risk. In order to overcome the risk of crane collaborative hoisting, the applicant has put forward the idea of dynamically displaying the crane collaborative hoisting risk for the collaborative operator. For now, people always use the angle sensors to detect the deviation angle of hook wire when they want to know the verticality condition of the crane lifting pulley block or the crane hook. For one example, an angular measurement device realizes the two-dimensional detection of the crane hook wire, as is shown in FIG. 2. Two U-shape frames UX, UY are respectively set in the two mutually perpendicular directions, both gone across by the hook wire C which is hanging the weight L, and keep touch with each other. Two angle sensors EX, EY are respectively installed on the rotation shafts of U-shape frames UX, UY. The angle sensors EX, EY will output the deviation signal by rotating with the rotation shafts of U-shape frames UX, UY when the deviation of hook wire C happens. For another example, a device for detecting the deviation angle of crane hook wire is shown in FIG. 3. A sleeve 2 is set outside of the hook wire 3 which is located in the fixed pulley end of the crane jib head 1. An angle sensor 4 is installed on the outer wall of the sleeve 2. An anti-rotating mechanism 5 for restricting the rotation of the sleeve 2 is installed between the crane jib head 1 and the sleeve 2. The angle sensor 4 will output the deviation signal by deflecting with the sleeve 2 when the deviation of hook wire 3 happens. All above mentioned devices can not arrive at an accurate hoisting vertical deviation angle of crane because there is an uncertain inherent deviation in the hook wire itself

SUMMARY OF THE INVENTION

The crane single hoist and collaborative hoist both have a big risk for the reasons as follows: the crane has poor stability while its hoisting vertical deviation angle shall not be more than 3 degree, the swing weight may hurt the surrounding equipment and personnel when the crane does not vertically hoist, especially the non-vertical hoist under a large elevation breaks the normal load distribution of crane, and the driver cannot determine whether the lifting pulley block of crane is in the vertical position due to lack of the device for displaying its vertical hoist, the driver operates under the command of hoisting commander who monitors the hoisting weight, it is neither timely nor accurate. Therefore, there are provided two monitoring apparatuses in the present application, which can respectively avoid the risk of crane single hoist and collaborative hoist. Firstly, the present invention provides a monitoring apparatus of crane hoisting vertical deviation angle, which measures the vertical deviation angle of the lifting pulley block of a crane, and displays the crane hoisting vertical deviation angle in the crane cab. Secondly, the present invention provides a monitoring apparatus of crane collaborative hoisting vertical deviation angle, which measures the vertical deviation angle of the lifting pulley block of a crane, and displays the crane hoisting vertical deviation angle not only in the crane cab but also in a collaborative monitoring point, to make two sides achieving cooperative hoisting.

The vertical deviation angle of the lifting pulley block of a crane (hereinafter referred to as the vertical deviation angle) is equal to the angle of the plane perpendicular to the lifting pulley block deviating from the horizontal plane; the angle is measured by a dual-axis inclinometer which is placed on the plane perpendicular to the lifting pulley block. Therefore, the monitoring apparatuses fix a measuring platform on the outside of the guard plate of the movable pulley of the lifting pulley block of a crane, and the measuring platform surface becomes a horizontal plane when the crane hoisting vertical deviation angle is 0 degree. When using the single-crane slide method or the double-crane to hoist a weight, the crane driver should cooperate with the operator in the collaborative monitoring point. For example, the crane driver cooperates with the traction machine driver; the main crane driver cooperates with the auxiliary crane driver. The vertical deviation angles of the main and auxiliary cranes are inversely proportional to their load distributions. If the main and auxiliary cranes respectively bear loads in the ratio of 6:1, the vertical deviation angle of auxiliary crane advances 3 degree when the vertical deviation angle of main crane lags 0.5 degree. That is, if the vertical deviation angle of auxiliary crane meets the requirement, the vertical deviation angle of main crane must meet the requirement. Thus, the main and auxiliary cranes both are operated with the benchmark against which the auxiliary crane achieves a vertical lifting.

In one solution, the present invention provides a monitoring apparatus of crane collaborative hoisting vertical deviation angle, comprising:

-   a measuring platform fixed on the outside of the guard plate of the     movable pulley of the lifting pulley block of a crane, and the     measuring platform surface becomes a horizontal plane when the crane     hoisting vertical deviation angle is 0 degree; -   a dual-axis inclinometer fixed on the measuring platform surface, to     measure the angularity of the measuring platform surface relative to     the horizontal plane in order to obtain the crane hoisting vertical     deviation angle; when the vertical deviation occurs, the angle of     the measuring platform surface deviating from the horizontal plane     along each sensing axis direction, which is detected by the     dual-axis inclinometer, is equal to the vertical deviation angle of     the lifting pulley block along the corresponding direction;     therefore, when a cross coordinate is established at the centre of     the measuring platform surface, the dual-axis inclinometer will     measure the vertical deviation angles both in the X-axis direction     and in the Y-axis direction; preferably, the dual-axis inclinometer     is a dual-axis tilt angle sensor or a dual-axis digital inclinometer     in view of the development of advanced MEMS technology; -   a wireless transmitter also fixed on the outside of the guard plate     of the movable pulley of the lifting pulley block of the crane, to     transmit the dual-axis vertical deviation angle signals which are     generated by the dual-axis inclinometer; -   a wireless receiver as well as a corresponding control display both     positioned in the crane cab, wherein the wireless receiver receives     the dual-axis vertical deviation angle signals, the control display     processes the dual-axis vertical deviation angle signals into a     crane hoisting vertical deviation angle and dynamically displays the     angle; -   a portable wireless receiver as well as a corresponding portable     control display placed in a collaborative monitoring point, wherein     the portable wireless receiver receives the dual-axis vertical     deviation angle signals, the portable control display processes the     dual-axis vertical deviation angle signals into a crane hoisting     vertical deviation angle and dynamically displays the angle;     preferably, the collaborative monitoring point comprises at least     one of a collaborative crane cab, a traction machine driver's     monitoring point and a hoisting commander's monitoring point.

In another solution, the present invention provides a monitoring apparatus of crane hoisting vertical deviation angle, comprising:

-   a measuring platform fixed on the outside of the guard plate of the     movable pulley of the lifting pulley block of a crane, and the     measuring platform surface becomes a horizontal plane when the crane     hoisting vertical deviation angle is 0 degree; -   a dual-axis inclinometer fixed on the measuring platform surface, to     measure the angularity of the measuring platform surface relative to     the horizontal plane in order to obtain the crane hoisting vertical     deviation angle; when a cross coordinate is established at the     centre of the measuring platform surface, the dual-axis inclinometer     will measure the vertical deviation angles both in the X-axis     direction and in the Y-axis direction; preferably, the dual-axis     inclinometer is a dual-axis tilt angle sensor or a dual-axis digital     inclinometer in view of the development of advanced MEMS technology; -   a wireless transmitter also fixed on the outside of the guard plate     of the movable pulley of the lifting pulley block of the crane, to     transmit the dual-axis vertical deviation angle signals which are     generated by the dual-axis inclinometer; -   a wireless receiver as well as a corresponding control display both     positioned in the crane cab, wherein the wireless receiver receives     the dual-axis vertical deviation angle signals, the control display     processes the dual-axis vertical deviation angle signals into a     crane hoisting vertical deviation angle and dynamically displays the     angle.

Based on the monitoring apparatuses mentioned above, the present invention provides a control method of crane hoisting vertical deviation angle, comprising:

-   (1) when using the single-crane rotation method to hoist a weight,     on the basis of the crane hoisting vertical deviation angle     displayed in the crane cab, the crane operator adjusts the crane     hoisting speed to cooperate with the crane rotational speed for     eliminating the verticality deviation; -   (2) when using the single-crane slide method to hoist a weight, on     the basis of the crane hoisting vertical deviation angle displayed     in the crane cab, the crane operator adjusts the crane hoisting     speed; on the basis of the crane hoisting vertical deviation angle     displayed in the collaborative monitoring point (that is, the     traction machine driver's monitoring point), the traction machine     driver controls the traction to cooperate with the crane hoisting     speed for eliminating the verticality deviation; -   (3) when using the double-crane to hoist a weight, the main and     auxiliary cranes both are operated with the benchmark against which     the auxiliary crane achieves a vertical lifting; on the basis of the     auxiliary crane hoisting vertical deviation angle displayed in the     auxiliary crane cab, the auxiliary crane operator adjusts the     auxiliary crane hoisting speed; on the basis of the auxiliary crane     hoisting vertical deviation angle displayed in the main crane cab,     the main crane operator controls the main crane hoisting speed to     cooperate with the auxiliary crane hoisting speed for eliminating     the auxiliary crane hoisting verticality deviation; as the main and     auxiliary cranes synchronously hoist, both of them are still     operated with the benchmark against which the auxiliary crane     achieves a vertical lifting.

It is the first time that the present invention puts forward the idea of fixing a measuring platform on the outside of the guard plate of the movable pulley of the lifting pulley block, setting a dual-axis inclinometer on the measuring platform surface to measure the vertical deviation angle of the lifting pulley block, and displaying the angle in the specified monitoring point (such as the crane cab, the collaborative crane cab, the traction machine driver's monitoring point and the hoisting commander's monitoring point) when the crane hoists a weight. Thus, the present invention can achieve the crane vertical hoisting, especially overcome the risk of two cranes non-vertical collaborative hoisting, and be applied to the entire single crane hoisting as well as the double cranes collaborative hoisting.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a block diagram showing the working of the monitoring apparatus in which an embodiment of the present invention may be incorporated.

FIG. 2 is a schematic diagram of a prior art angular measurement device of the crane hook wire.

FIG. 3 is a structural schematic view of a prior art device for detecting the deviation angle of crane hook wire.

In FIG. 1, the sensor module and the wireless transmitting module are installed on the outside of the guard plate of the movable pulley of the lifting pulley block of the crane, when the wireless receiving module and the PC machine are installed in the specified monitoring point.

DETAILED DESCRIPTION OF THE INVENTION

First, there is disclosed a monitoring apparatus of crane collaborative hoisting vertical deviation angle in one embodiment of the present application. The method for manufacturing this monitoring apparatus comprises the following steps:

(1) Firstly, providing a F-shape frame which consists of an upper flat plate connecting with a vertical plate, and a measuring platform which matches with the upper flat plate; separately drilling three triangular connecting holes on the measuring platform and the corresponding positions of the upper flat plate, connecting the measuring platform to the upper flat plate by means of countersunk bolts and nuts, and setting adjustable gaskets on the outside of the bolts between the measuring platform and the upper flat plate. Then, welding three triangular short bolts on the outside (vacant site) of the guard plate of the movable pulley of the lifting pulley block of the crane, drilling three connecting holes on the corresponding positions of the vertical plate, and fixing the vertical plate of F-shape frame on the outside of the guard plate of the movable pulley by means of nuts. At last, when the crane hoisting vertical deviation angle is 0 degree, adjusting the measuring platform surface to be a horizontal plane by adjusting the thickness of three gaskets between the measuring platform and the upper flat plate.

(2) Establishing a cross coordinate at the centre of the measuring platform surface, fixing a dual-axis tilt angle sensor on the centre of the measuring platform surface to measure the angularity of the measuring platform surface relative to the horizontal plane in order to obtain the crane hoisting vertical deviation angle, and fixing a wireless transmitter (including antenna) on the outside of the guard plate of the movable pulley of the lifting pulley block of the crane to transmit the dual-axis vertical deviation angle signals which are generated by the dual-axis tilt angle sensor. Moreover, a nonmetal shell is installed to protect the wireless transmitter by means of the bolts welded along the outside rim of the guard plate of the movable pulley.

(3) Positioning a wireless receiver (including antenna) as well as a corresponding control display in the crane cab, wherein the wireless receiver receives the dual-axis vertical deviation angle signals, the control display processes the dual-axis vertical deviation angle signals into a crane hoisting vertical deviation angle and dynamically displays the angle. In addition, placing a portable wireless receiver as well as a corresponding portable control display in a collaborative monitoring point, wherein the portable wireless receiver receives the dual-axis vertical deviation angle signals, the portable control display processes the dual-axis vertical deviation angle signals into a crane hoisting vertical deviation angle and dynamically displays the angle. Preferably, the collaborative monitoring point comprises at least one of a collaborative crane cab, a traction machine driver's monitoring point and a hoisting commander's monitoring point.

As shown in FIG. 1, the circuit modules of this monitoring apparatus are mainly composed of one sensor module, one wireless transmitting module, at least one wireless receiving module and at least one PC machine, wherein the sensor module and the wireless transmitting module are installed on the outside of the guard plate of the movable pulley of the lifting pulley block of the crane, when the wireless receiving modules and the PC machines are installed in the specified monitoring points. The sensor module thereof comprises a dual-axis tilt angle sensor and its signal conditioning circuit. The wireless transmitting module thereof comprises a wireless transmitter and its A/D converting circuit as well as signal emission circuit. The wireless receiving module thereof comprises a wireless receiver and its signal reception circuit as well as serial port circuit. The PC machine thereof comprises the control display and its serial port communication circuit as well as LED indication circuit.

Second, there is disclosed a monitoring apparatus of crane hoisting vertical deviation angle in another embodiment of the present application. The method for manufacturing this monitoring apparatus comprises the following steps:

(1) Firstly, providing a F-shape frame which consists of an upper flat plate connecting with a vertical plate, and a measuring platform which matches with the upper flat plate; separately drilling three triangular connecting holes on the measuring platform and the corresponding positions of the upper flat plate, connecting the measuring platform to the upper flat plate by means of countersunk bolts and nuts, and setting adjustable gaskets on the outside of the bolts between the measuring platform and the upper flat plate. Then, welding three triangular short bolts on the outside (vacant site) of the guard plate of the movable pulley of the lifting pulley block of the crane, drilling three connecting holes on the corresponding positions of the vertical plate, and fixing the vertical plate of F-shape frame on the outside of the guard plate of the movable pulley by means of nuts. At last, when the crane hoisting vertical deviation angle is 0 degree, adjusting the measuring platform surface to be a horizontal plane by adjusting the thickness of three gaskets between the measuring platform and the upper flat plate.

(2) Establishing a cross coordinate at the centre of the measuring platform surface, fixing a dual-axis digital inclinometer on the centre of the measuring platform surface to measure the angularity of the measuring platform surface relative to the horizontal plane in order to obtain the crane hoisting vertical deviation angle, and fixing a wireless transmitter on the outside of the guard plate of the movable pulley of the lifting pulley block of the crane to transmit the dual-axis vertical deviation angle signals which are generated by the dual-axis digital inclinometer. Moreover, a nonmetal shell is installed to protect the wireless transmitter by means of the bolts welded along the outside rim of the guard plate of the movable pulley.

(3) Positioning a wireless receiver as well as a corresponding control display in the crane cab, wherein the wireless receiver receives the dual-axis vertical deviation angle signals, the control display processes the dual-axis vertical deviation angle signals into a crane hoisting vertical deviation angle and dynamically displays the angle on the screen.

In a further embodiment of the present invention, a portable wireless receiver as well as a corresponding portable control display can also be placed in a collaborative monitoring point, wherein the portable wireless receiver receives the dual-axis vertical deviation angle signals, the portable control display processes the dual-axis vertical deviation angle signals into a crane hoisting vertical deviation angle and dynamically displays the angle. Preferably, the collaborative monitoring point comprises at least one of a collaborative crane cab, a traction machine driver's monitoring point and a hoisting commander's monitoring point.

Third, there is disclosed a control method of crane hoisting vertical deviation angle in an embodiment of the present application.

For overcoming the risk of single crane non-vertical hoisting and two cranes non-vertical collaborative hoisting, this control method based on the monitoring apparatuses mentioned above, comprising:

-   (1) when using the single-crane rotation method to hoist a weight,     on the basis of the crane hoisting vertical deviation angle     displayed in the crane cab, the crane operator adjusts the crane     hoisting speed to cooperate with the crane rotational speed for     eliminating the verticality deviation; -   (2) when using the single-crane slide method to hoist a weight, on     the basis of the crane hoisting vertical deviation angle displayed     in the crane cab, the crane operator adjusts the crane hoisting     speed; on the basis of the crane hoisting vertical deviation angle     displayed in the collaborative monitoring point, the traction     machine driver controls the traction to cooperate with the crane     hoisting speed for eliminating the verticality deviation; -   (3) when using the double-crane to hoist a weight, the main and     auxiliary cranes both are operated with the benchmark against which     the auxiliary crane achieves a vertical lifting; on the basis of the     auxiliary crane hoisting vertical deviation angle displayed in the     auxiliary crane cab, the auxiliary crane operator adjusts the     auxiliary crane hoisting speed; on the basis of the auxiliary crane     hoisting vertical deviation angle displayed in the main crane cab,     the main crane operator controls the main crane hoisting speed to     cooperate with the auxiliary crane hoisting speed for eliminating     the auxiliary crane hoisting verticality deviation; as the main and     auxiliary cranes synchronously hoist, both of them are still     operated with the benchmark against which the auxiliary crane     achieves a vertical lifting. 

1. A monitoring apparatus of crane collaborative hoisting vertical deviation angle, comprising: a measuring platform fixed on the outside of the guard plate of the movable pulley of the lifting pulley block of a crane, and the measuring platform surface becomes a horizontal plane when the crane hoisting vertical deviation angle is 0 degree; a dual-axis inclinometer fixed on the measuring platform surface, to measure the angularity of the measuring platform surface relative to the horizontal plane in order to obtain the crane hoisting vertical deviation angle; a wireless transmitter also fixed on the outside of the guard plate of the movable pulley of the lifting pulley block of the crane, to transmit the dual-axis vertical deviation angle signals which are generated by the dual-axis inclinometer; a wireless receiver as well as a corresponding control display both positioned in the crane cab, wherein the wireless receiver receives the dual-axis vertical deviation angle signals, the control display processes the dual-axis vertical deviation angle signals into a crane hoisting vertical deviation angle and dynamically displays the angle; a portable wireless receiver as well as a corresponding portable control display placed in a collaborative monitoring point, wherein the portable wireless receiver receives the dual-axis vertical deviation angle signals, the portable control display processes the dual-axis vertical deviation angle signals into a crane hoisting vertical deviation angle and dynamically displays the angle.
 2. The monitoring apparatus according to claim 1, wherein said the collaborative monitoring point comprises at least one of a collaborative crane cab, a traction machine driver's monitoring point and a hoisting commander's monitoring point.
 3. The monitoring apparatus according to claim 1, wherein said the dual-axis inclinometer is a dual-axis tilt angle sensor or a dual-axis digital inclinometer.
 4. A monitoring apparatus of crane hoisting vertical deviation angle, comprising: a measuring platform fixed on the outside of the guard plate of the movable pulley of the lifting pulley block of a crane, and the measuring platform surface becomes a horizontal plane when the crane hoisting vertical deviation angle is 0 degree; a dual-axis inclinometer fixed on the measuring platform surface, to measure the angularity of the measuring platform surface relative to the horizontal plane in order to obtain the crane hoisting vertical deviation angle; a wireless transmitter also fixed on the outside of the guard plate of the movable pulley of the lifting pulley block of the crane, to transmit the dual-axis vertical deviation angle signals which are generated by the dual-axis inclinometer; a wireless receiver as well as a corresponding control display both positioned in the crane cab, wherein the wireless receiver receives the dual-axis vertical deviation angle signals, the control display processes the dual-axis vertical deviation angle signals into a crane hoisting vertical deviation angle and dynamically displays the angle.
 5. The monitoring apparatus according to claim 4, wherein said the dual-axis inclinometer is a dual-axis tilt angle sensor or a dual-axis digital inclinometer.
 6. A control method of crane hoisting vertical deviation angle, adopting the monitoring apparatus according to claim 1 or claim 4, and comprising: (1) when using the single-crane rotation method to hoist a weight, on the basis of the crane hoisting vertical deviation angle displayed in the crane cab, the crane operator adjusts the crane hoisting speed to cooperate with the crane rotational speed for eliminating the verticality deviation; (2) when using the single-crane slide method to hoist a weight, on the basis of the crane hoisting vertical deviation angle displayed in the crane cab, the crane operator adjusts the crane hoisting speed; on the basis of the crane hoisting vertical deviation angle displayed in the collaborative monitoring point, the traction machine driver controls the traction to cooperate with the crane hoisting speed for eliminating the verticality deviation; (3) when using the double-crane to hoist a weight, the main and auxiliary cranes both are operated with the benchmark against which the auxiliary crane achieves a vertical lifting; on the basis of the auxiliary crane hoisting vertical deviation angle displayed in the auxiliary crane cab, the auxiliary crane operator adjusts the auxiliary crane hoisting speed; on the basis of the auxiliary crane hoisting vertical deviation angle displayed in the main crane cab, the main crane operator controls the main crane hoisting speed to cooperate with the auxiliary crane hoisting speed for eliminating the auxiliary crane hoisting verticality deviation; as the main and auxiliary cranes synchronously hoist, both of them are still operated with the benchmark against which the auxiliary crane achieves a vertical lifting. 